U.S. patent application number 14/298082 was filed with the patent office on 2015-01-29 for path planning and collision avoidance for movement of instruments in a radiation therapy environment.
The applicant listed for this patent is Loma Linda University Medical Center. Invention is credited to Chieh C. Cheng, David A. Lesyna, Michael F. Moyers.
Application Number | 20150032233 14/298082 |
Document ID | / |
Family ID | 34221365 |
Filed Date | 2015-01-29 |
United States Patent
Application |
20150032233 |
Kind Code |
A1 |
Cheng; Chieh C. ; et
al. |
January 29, 2015 |
PATH PLANNING AND COLLISION AVOIDANCE FOR MOVEMENT OF INSTRUMENTS
IN A RADIATION THERAPY ENVIRONMENT
Abstract
Apparatus and methods for therapy delivery are disclosed. In one
embodiment, a therapy delivery system includes a plurality of
movable components including a radiation therapy nozzle and a
patient pod for holding a patient, a patient registration module
for determining a desired position of at least one of the plurality
of movable components, and a motion control module for coordinating
the movement of the least one of the plurality of movable
components from a current position to the desired position. The
motion control module includes a path planning module for
simulating at least one projected trajectory of movement of the
least one of the plurality of moveable components from the current
position to the desired position
Inventors: |
Cheng; Chieh C.; (Redlands,
CA) ; Lesyna; David A.; (Redlands, CA) ;
Moyers; Michael F.; (Colton, CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Loma Linda University Medical Center |
Loma Linda |
CA |
US |
|
|
Family ID: |
34221365 |
Appl. No.: |
14/298082 |
Filed: |
June 6, 2014 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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13447090 |
Apr 13, 2012 |
8750453 |
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14298082 |
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13082239 |
Apr 7, 2011 |
8184773 |
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13447090 |
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12825076 |
Jun 28, 2010 |
7949096 |
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13082239 |
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11868918 |
Oct 8, 2007 |
7746978 |
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12825076 |
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10917220 |
Aug 12, 2004 |
7280633 |
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11868918 |
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60494699 |
Aug 12, 2003 |
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60579095 |
Jun 10, 2004 |
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Current U.S.
Class: |
700/90 |
Current CPC
Class: |
A61N 2005/1061 20130101;
A61B 6/547 20130101; A61N 5/107 20130101; A61N 2005/1087 20130101;
A61N 2005/105 20130101; A61N 5/1037 20130101; A61N 5/1067 20130101;
A61B 6/4092 20130101; A61N 2005/1097 20130101; A61B 2090/3937
20160201; A61N 2005/1062 20130101; A61N 5/1049 20130101; A61N
5/1078 20130101; A61N 5/1069 20130101; B25J 9/1666 20130101; G05B
15/02 20130101; G05B 2219/45117 20130101; A61B 6/0442 20130101;
A61N 2005/1059 20130101 |
Class at
Publication: |
700/90 |
International
Class: |
G05B 15/02 20060101
G05B015/02; A61N 5/10 20060101 A61N005/10 |
Goverment Interests
STATEMENT REGARDING FEDERALLY SPONSORED R&D
[0001] This invention was made with United States Government
support under the DAMD17-99-1-9477 and DAMD17-02-1-0205 grants
awarded by the Department of Defense. The Government has certain
rights in the invention.
Claims
1. (canceled)
2. A therapy delivery system comprising: a plurality of movable
components including a radiation therapy nozzle and a patient pod
for holding a patient; a plurality of external measurement devices
which obtain position measurements of at least one of the plurality
of movable components; a patient registration module for
determining a desired position of at least one of the plurality of
movable components; a path planning module for simulating at least
one projected trajectory of movement of at least one of the
plurality of movable components from a current position to the
desired position; and a collision avoidance module which receives
the position measurements for at least one of the plurality of
movable components and determines whether a collision is indicated
and halts movement if a collision is indicated.
3. The therapy delivery system of claim 2, wherein the path
planning module uses data from a library of three dimensional model
data, the three dimensional model data corresponding to position
envelopes defined by possible movement of the movable
components.
4. The therapy delivery system of claim 3, wherein the library of
three dimensional model data comprises a data set corresponding to
each of the plurality of movable components.
5. The therapy delivery system of claim 2, where the external
measurement devices comprise cameras for measuring the at least one
of the plurality of movable components.
6. The therapy delivery system of claim 2, where the external
measurement devices comprise lasers for measuring the at least one
of the plurality of movable components.
7. The therapy delivery system of claim 2, further comprising a
plurality of markers fixed to at least the patient pod and the
radiation therapy nozzle wherein the external measurement devices
obtain position measurements of the markers.
8. The therapy delivery system of claim 2, wherein the radiation
therapy nozzle is capable of delivering therapeutic radiation along
a beam axis, and further comprising a patient imaging system which
is movable into the radiation beam axis to obtain an image of the
patient and out of the beam axis to reduce exposure of the imaging
system to the radiation beam and wherein the system determines the
relative location of a patient target isocenter with respect to the
nozzle.
9. The therapy delivery system of claim 8, wherein the system
positions the patient in an initial position and, after imaging the
patient, determines a correction vector and corresponding movement
commands and trajectories to move at least one movable component to
place the patient target isocenter into a more desired pose with
respect to the nozzle and evaluates the movement trajectories and
inhibits movement if a collision is indicated.
10. The therapy delivery system of claim 9, wherein imaging the
patient and moving the at least one movable component to place the
patient target isocenter into a more desired pose with respect to
the nozzle are performed iteratively.
11. A method of positioning a patient for delivery of therapy, the
method comprising: placing a patient in a movable patient pod which
is connected to a plurality of movable components including a
radiation therapy nozzle; measuring the current position of at
least one of the movable components; determining a desired position
of at least one of the plurality of movable components; simulating
at least one projected trajectory of movement of at least one of
the plurality of movable components from a current position to the
desired position; and using the current position measurements of
the movable components to determine whether a collision is
indicated and halting movement if a collision is indicated.
12. The method of claim 11, wherein measuring the current position
of at least one of the plurality of movable components comprises
capturing a plurality of images of at least one of the movable
components.
13. The method of claim 11, wherein measuring the current position
of at least one of the plurality of movable components comprises
lasers to measure the distance between at least one of the movable
components and at least one fixed location.
14. The method of claim 11, further comprising determining
real-time position data of at least one of the plurality of movable
components, and calculating distances between at least one of the
plurality of movable components and at least one other movable
component based on the real-time position data to determine if a
collision is indicated.
15. The method of claim 14, further comprising analyzing the
plurality of images for intrusion of a foreign object, and halting
movement of at least one movable component when intrusion of a
foreign object is detected.
16. The method of claim 11, further comprising receiving
information relating to a treatment prescription of the patient.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0002] Any and all applications for which a foreign or domestic
priority claim is identified in the Application Data Sheet as filed
with the present application are incorporated by reference in their
entirety under 37 CFR 1.57 and made a part of this
specification.
BACKGROUND
[0003] 1. Field
[0004] The invention relates to the field of radiation therapy
systems. One embodiment includes an active path planning and
collision avoidance system to facilitate movement of objects in a
radiation therapy environment in an efficient manner and so as to
proactively avoid possible collisions.
[0005] 2. Description of Related Art
[0006] Radiation therapy systems are known and used to provide
treatment to patients suffering a wide variety of conditions.
Radiation therapy is typically used to kill or inhibit the growth
of undesired tissue, such as cancerous tissue. A determined
quantity of high-energy electromagnetic radiation and/or
high-energy particles are directed into the undesired tissue with
the goal of damaging the undesired tissue while reducing
unintentional damage to desired or healthy tissue through which the
radiation passes on its path to the undesired tissue.
[0007] Proton therapy has emerged as a particularly efficacious
treatment for a variety of conditions. In proton therapy,
positively charged proton subatomic particles are accelerated,
collimated into a tightly focused beam, and directed towards a
designated target region within the patient. Protons exhibit less
lateral dispersion upon impact with patient tissue than
electromagnetic radiation or low mass electron charged particles
and can thus be more precisely aimed and delivered along a beam
axis. Also, upon impact with patient tissue, protons exhibit a
characteristic Bragg peak wherein a significant portion of the
kinetic energy of the accelerated mass is deposited within a
relatively narrow penetration depth within the patient. This offers
the significant advantage of reducing delivery of energy from the
accelerated proton particles to healthy tissue interposed between
the target region and the delivery nozzle of a proton therapy
machine as well as to "downrange" tissue lying beyond the
designated target region. Depending on the indications for a
particular patient and their condition, delivery of the therapeutic
proton beam may preferably take place from a plurality of
directions in multiple treatment fractions to maintain a total dose
delivered to the target region while reducing collateral exposure
of interposed desired/healthy tissue.
[0008] Thus, a radiation therapy system, such as a proton beam
therapy system, typically has provision for positioning a patient
with respect to a proton beam in multiple orientations. In order to
determine a preferred aiming point for the proton beam within the
patient, the typical procedure has been to perform a computed
tomography (CT) scan in an initial planning or prescription stage
from which multiple digitally reconstructed radiographs (DRRs) can
be determined. The DRRs synthetically represent the three
dimensional data representative of the internal physiological
structure of the patient obtained from the CT scan in two
dimensional views considered from multiple orientations. A desired
target isocenter corresponding to the tissue to which therapy is to
be provided is designated. The spatial location of the target
isocenter can be referenced with respect to physiological structure
of the patient (monuments) as indicated in the DRRs.
[0009] Upon subsequent setup for delivery of the radiation therapy,
an x-ray imager is moved into an imaging position and a
radiographic image is taken of the patient. This radiographic image
is compared or registered with the DRRs with respect to the
designated target isocenter. The patient's position is adjusted to,
as closely as possible, align the target isocenter in a desired
pose with respect to the radiation beam as indicated by the
physician's prescription. The desired pose is frequently chosen as
that of the initial planning or prescription scan. Depending on the
particular application, either the patient and/or the beam nozzle
will need to be moved.
[0010] There is a desire that movement of components of the therapy
system to achieve alignment be done in an accurate, rapid manner
while maintaining overall system safety. In particular, a radiation
therapy apparatus is an expensive piece of medical equipment to
construct and maintain both because of the materials and equipment
needed in construction and the indication for relatively highly
trained personnel to operate and maintain the apparatus. In
addition, radiation therapy, such as proton therapy, is increasing
being found an effective treatment for a variety of patient
conditions and thus it is desirable to increase patient throughput
both to expand the availability of this beneficial treatment to
more patients in need of the same as well as reducing the end costs
to the patients or insurance companies paying for the treatment and
increase the profitability for the therapy delivery providers. As
the actual delivery of the radiation dose, once the patient is
properly positioned, is relatively quick, any additional latency in
patient ingress and egress from the therapy apparatus, imaging, and
patient positioning and registration detracts from the overall
patient throughput and thus the availability, costs, and
profitability of the system.
[0011] The movable components of a radiation therapy system also
tend to be rather large and massive, thus indicating powered
movement of the various components. As the components tend to have
significant inertia during movement and are typically power driven,
a safety system to inhibit damage and injury can be provided.
Safety systems can include power interrupts based on contact
switches. The contact switches are activated at motion stop range
of motion limits to cut power to drive motors. Hard motion stops or
limiters can also be provided to physically impede movement beyond
a set range. However, contact switches and hard stops are activated
when the corresponding component(s) reach the motion limit and thus
impose a relatively abrupt motion stop which adds to wear on the
machinery and can even lead to damage if engaged excessively. In
addition, particularly in application involving multiple moving
components, a motion stop arrangement of contact switches and/or
hard limiters involves significant complexity to inhibit collision
between the multiple components and can lead to inefficiencies in
the overall system operation if the components are limited to
moving one at a time to simplify the collision avoidance.
[0012] From the foregoing it will be understood that there is a
need for providing a collision avoidance system to maintain
operating safety and damage control while positioning multiple
movable components of a radiation therapy delivery system. There is
also a desire to maintain the accuracy and speed of the patient
registration process when implementing such a collision avoidance
system.
SUMMARY
[0013] Embodiments of the invention provide a patient positioning
system for a therapeutic radiation system having moving components.
The patient positioning system pre-plans and analyzes movements to
increase movement efficiency for decreased latency and to
pro-actively avoid collisions. The patient positioning system
includes multiple cameras that can both determine the location of
fixed and movable components of the system as well as monitor for
possible intrusion into a movement path of a foreign object or
personnel. The system provides significant safety advantages over
systems employing motion stops.
[0014] One embodiment comprises a radiation therapy delivery system
having fixed and movable components, the system comprising a
gantry, a patient pod configured to secure a patient substantially
immobile with respect to the patient pod, a patient positioner
interconnected to the patient pod so as to position the patient pod
along multiple translational and rotational axes within the gantry,
a radiation therapy nozzle interconnected to the gantry and
selectively delivering radiation therapy along a beam axis, a
plurality of external measurement devices which obtain position
measurements of at least the patient pod and nozzle, and a
controller which receives the position measurements of at least the
patient pod and nozzle and determines movement commands to position
the patient in a desired pose with respect to the beam axis and
corresponding movement trajectories of the patient pod with respect
to other fixed and movable components of the therapy delivery
system based upon the movement commands and determines whether a
collision is indicated for the movement commands and inhibits
movement if a collision would be indicated.
[0015] Another embodiment comprises a path planning and collision
avoidance system for a radiation therapy system having fixed and
movable components and selectively delivering a radiation therapy
beam along a beam axis, the positioning system comprising a
plurality of external measurement devices arranged to obtain
position measurements of the components so as to provide location
information, a movable patient support configured to support a
patient substantially fixed in position with respect to the patient
support and controllably position the patient in multiple
translational and rotational axes, and a controller receiving
position information from the plurality of external measurement
devices and providing movement commands to the movable patient
support to automatically align the patient in a desired pose and
determining a corresponding movement envelope wherein the
controller evaluates the movement envelope and inhibits movement of
the patient support if a collision is indicated else initiates the
movement.
[0016] A further embodiment comprises a method of registering and
positioning a patient for delivery of therapy with a system having
fixed and at least one movable components, the method comprising
the steps of positioning a patient in an initial treatment pose
with a controllable patient positioner, externally measuring the
location of selected points of the fixed and at least one movable
components, determining a difference vector between the observed
initial patient pose and a desired patient pose, determining
corresponding movement commands and a movement trajectory for the
patient positioner to bring the patient to the desired patient
pose, and comparing the movement trajectory with the measured
locations of the selected points of the fixed and at least one
movable components so as to inhibit movement of the patient
positioner if a collision is indicated.
[0017] Yet another embodiment comprises a system for delivering
radiation therapy to a pre-selected location within a patient, the
system comprising a plurality of movable components including a
patient positioner and a nozzle, the system further comprising an
external monitoring system that monitors the physical location of
the plurality of movable components and provides signals indicative
thereof and wherein the system further includes internal monitoring
systems that also monitor the movement of the plurality of movable
components and provides signals indicative thereof and wherein the
system monitors the signals from the external and internal
monitoring systems and inhibits movement of the plurality of
components if the signals indicate that a collision of components
is likely to occur.
[0018] These and other objects and advantages of the invention will
become more apparent from the following description taken in
conjunction with the accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
[0019] A schematic diagram of one embodiment of a radiation therapy
system with a patient positioning system in a first orientation is
shown in FIG. 1A and in a second orientation in FIG. 1B;
[0020] FIG. 2A illustrates one embodiment of retractable imagers in
an extended position and FIG. 2B illustrates the imagers in a
retracted position;
[0021] FIG. 3 illustrates one embodiment of a patient positioner to
which a patient pod can be attached;
[0022] FIGS. 4A-4E illustrate various position error sources of one
embodiment of a radiation therapy system;
[0023] FIG. 5 is a flow chart of one embodiment of a method of
determining the position and orientation of objects in a radiation
therapy environment;
[0024] FIG. 6 illustrates one embodiment of external measurement
devices for a radiation therapy system;
[0025] FIG. 7 illustrates further embodiments of external
measurement devices for a radiation therapy system;
[0026] FIG. 8 is a block diagram of one embodiment of a precision
patient positioning system of a radiation therapy system;
[0027] FIG. 9 is a block diagram of one embodiment of an external
measurement and 6D coordination system of the patient positioning
system;
[0028] FIG. 10 is a block diagram of a patient registration module
of the patient positioning system;
[0029] FIG. 11 is a block diagram of a path planning module of a
motion control module of the patient positioning system;
[0030] FIG. 12 is a block diagram of an active collision avoidance
module of the motion control module of the patient positioning
system;
[0031] FIG. 13 is a block diagram of one embodiment of the
collision avoidance module and a motion sequence coordinator of a
motion control module; and
[0032] FIG. 14 is a flow chart of the operation of one embodiment
of a method of positioning a patient and delivering radiation
therapy.
DETAILED DESCRIPTION OF CERTAIN EMBODIMENTS
[0033] Reference will now be made to the drawings wherein like
reference designators refer to like parts throughout. FIGS. 1A and
1B illustrate schematically first and second orientations of one
embodiment of a radiation therapy system 100, such as based on the
proton therapy system currently in use at Loma Linda University
Medical Center in Loma Linda, Calif. and as described in U.S. Pat.
No. 4,870,287 of Sep. 26, 1989 which is incorporated herein in its
entirety by reference. The radiation therapy system 100 is designed
to deliver therapeutic radiation doses to a target region within a
patient for treatment of malignancies or other conditions from one
or more angles or orientations with respect to the patient. The
system 100 includes a gantry 102 which includes a generally
hemispherical or frustoconical support frame for attachment and
support of other components of the radiation therapy system 100.
Additional details on the structure and operation of embodiments of
the gantry 102 may be found in U.S. Pat. No. 4,917,344 and U.S.
Pat. No. 5,039,057, both of which are incorporated herein in their
entirety by reference.
[0034] The system 100 also comprises a nozzle 104 which is attached
and supported by the gantry 102 such that the gantry 102 and nozzle
104 may revolve relatively precisely about a gantry isocenter 120,
but subject to corkscrew, sag, and other distortions from nominal.
The system 100 also comprises a radiation source 106 delivering a
radiation beam along a radiation beam axis 140, such as a beam of
accelerated protons. The radiation beam passes through and is
shaped by an aperture 110 to define a therapeutic beam delivered
along a delivery axis 142. The aperture 110 is positioned on the
distal end of the nozzle 104 and the aperture 110 may preferably be
specifically configured for a patient's particular prescription of
therapeutic radiation therapy. In certain applications, multiple
apertures 110 are provided for different treatment fractions.
[0035] The system 100 also comprises one or more imagers 112 which,
in this embodiment, are retractable with respect to the gantry 102
between an extended position as illustrated in FIG. 2A and a
retracted position as illustrated in FIG. 2B. The imager 112 in one
implementation comprises a commercially available solid-state
amorphous silicon x-ray imager which can develop image information
such as from incident x-ray radiation that has passed through a
patient's body. The retractable aspect of the imager 112 provides
the advantage of withdrawing the imager screen from the delivery
axis 142 of the radiation source 106 when the imager 112 is not
needed thereby providing additional clearance within the gantry 102
enclosure as well as placing the imager 112 out of the path of
potentially harmful emissions from the radiation source 106 thereby
reducing the need for shielding to be provided to the imager
112.
[0036] The system 100 also comprises corresponding one or more
x-ray sources 130 which selectively emit appropriate x-ray
radiation along one or more x-ray source axes 144 so as to pass
through interposed patient tissue to generate a radiographic image
of the interposed materials via the imager 112. The particular
energy, dose, duration, and other exposure parameters preferably
employed by the x-ray source(s) 130 for imaging and the radiation
source 106 for therapy will vary in different applications and will
be readily understood and determined by one of ordinary skill in
the art.
[0037] In this embodiment, at least one of the x-ray sources 130 is
positionable such that the x-ray source axis 144 can be positioned
so as to be nominally coincident with the delivery axis 142. This
embodiment provides the advantage of developing a patient image for
registration from a perspective which is nominally identical to a
treatment perspective. This embodiment also includes the aspect
that a first imager 112 and x-ray source 130 pair and a second
imager 112 and x-ray source 130 pair are arranged substantially
orthogonal to each other. This embodiment provides the advantage of
being able to obtain patient images in two orthogonal perspectives
to increase registration accuracy as will be described in greater
detail below. The imaging system can be similar to the systems
described in U.S. Pat. Nos. 5,825,845 and 5,117,829 which are
hereby incorporated by reference.
[0038] The system 100 also comprises a patient positioner 114 (FIG.
3) and a patient pod 116 which is attached to a distal or working
end of the patient positioner 114. The patient positioner 114 is
adapted to, upon receipt of appropriate movement commands, position
the patient pod 116 in multiple translational and rotational axes
and preferably is capable of positioning the patient pod 116 in
three orthogonal translational axes as well as three orthogonal
rotational axes so as to provide a full six degree freedom of
motion to placement of the patient pod 116.
[0039] The patient pod 116 is configured to hold a patient securely
in place in the patient pod 116 so to as substantially inhibit any
relative movement of the patient with respect to the patient pod
116. In various embodiments, the patient pod 116 comprises
expandable foam, bite blocks, and/or fitted facemasks as
immobilizing devices and/or materials. The patient pod 116 is also
preferably configured to reduce difficulties encountered when a
treatment fraction indicates delivery at an edge or transition
region of the patient pod 116. Additional details of preferred
embodiments of the patient positioner 114 and patient pod 116 can
be found in the commonly assigned application (serial number
unknown, attorney docket number LOMARRL.132A) entitled "Modular
Patient Support System" filed concurrently herewith and which is
incorporated herein in its entirety by reference.
[0040] As previously mentioned, in certain applications of the
system 100, accurate relative positioning and orientation of the
therapeutic beam delivery axis 142 provided by the radiation source
106 with target tissue within the patient as supported by the
patient pod 116 and patient positioner 114 is an important goal of
the system 100, such as when comprising a proton beam therapy
system. However, as previously mentioned, the various components of
the system 100, such as the gantry 102, the nozzle 104, radiation
source 106, the imager(s) 112, the patient positioner 114, the
patient pod 116, and x-ray source(s) 130 are subject to certain
amounts of structural flex and movement tolerances from a nominal
position and orientation which can affect accurate delivery of the
beam to that patient.
[0041] FIGS. 1A and 1B illustrate different arrangements of certain
components of the system 100 and indicate by the broken arrows both
translational and rotational deviations from nominal that can occur
in the system 100. For example, in the embodiment shown in FIG. 1A,
the nozzle 104 and first imager 112 extend substantially
horizontally and are subject to bending due to gravity,
particularly at their respective distal ends. The second imager 112
is arranged substantially vertically and is not subject to the
horizontal bending of the first imager 112. FIG. 1B illustrates the
system 100 in a different arrangement rotated approximately
45.degree. counterclockwise from the orientation of FIG. 1A. In
this orientation, both of the imagers 112 as well as the nozzle 104
are subject to bending under gravity, but to a different degree
than in the orientation illustrated in FIG. 1A. The movement of the
gantry 102 between different orientations, such as is illustrated
in FIGS. 1A and 1B also subjects components of the system 100 to
mechanical tolerances at the moving surfaces. As these deviations
from nominal are at least partially unpredictable, non-repeatable,
and additive, correcting for the deviations on a predictive basis
is extremely challenging and limits overall alignment accuracy. It
will be appreciated that these deviations from the nominal
orientation of the system are simply exemplary and that any of a
number of sources of error can be addressed by the system disclosed
herein without departing from the spirit of the present
invention.
[0042] FIGS. 4a-4e illustrate in greater detail embodiments of
potential uncertainties or errors which can present themselves upon
procedures for alignment of, for example, the nozzle 104 and the
target tissue of the patient at an isocenter 120. FIGS. 4a-4e
illustrate these sources of uncertainty or error with reference to
certain distances and positions. It will be appreciated that the
sources of error described are simply illustrative of the types of
errors addressed by the system 100 of the illustrated embodiments
and that the system 100 described is capable of addressing
additional errors. In this embodiment, a distance SAD is defined as
a source to axis distance from the radiation source 106 to the
rotation axis of the gantry, which ideally passes through the
isocenter 120. For purposes of explanation and appreciation of
relative scale and distances, in this embodiment, SAD is
approximately equal to 2.3 meters.
[0043] FIG. 4a illustrates that one of the potential sources of
error is a source error where the true location of the radiation
source 106 is subject to offset from a presumed or nominal
location. In this embodiment, the therapeutic radiation beam as
provided by the radiation source 106 passes through two
transmission ion chambers (TIC) which serve to center the beam.
These are indicated as TIC 1 and TIC 3 and these are also affixed
to the nozzle 104. The source error can arise from numerous sources
including movement of the beam as observed on TIC 1 and/or TIC 3,
error in the true gantry 102 rotational angle, and error due to
"egging" or distortion from round of the gantry 102 as it rotates.
FIG. 4a illustrates source error comprising an offset of the true
position of the radiation source 106 from a presumed or nominal
location and the propagation of the radiation beam across the SAD
distance through the aperture 110 providing a corresponding error
at isocenter 120.
[0044] FIG. 4b illustrates possible error caused by TIC location
error, where TIC 1, the radiation source 106, and TIC 3 are offset
from an ideal beam axis passing through the nominal gantry
isocenter 120. As the errors illustrated by FIGS. 4a and 4b are
assumed random and uncorrelated, they can be combined in quadrature
and projected through an assumed nominal center of the aperture 110
to establish a total error contribution due to radiation source 106
error projected to the isocenter 120. In this embodiment, before
corrective measures are taken (as described in greater detail
below), the radiation source error can range from approximately
.+-.0.6 mm to .+-.0.4 mm.
[0045] FIG. 4c illustrates error or uncertainty due to position of
the aperture 110. The location of the radiation source 106 is
assumed nominal; however, error or uncertainty is introduced both
by tolerance stack-up, skew, and flex of the nozzle 104 as well as
manufacturing tolerances of the aperture 110 itself. Again, as
projected from the radiation source 106 across the distance SAD to
the nominal isocenter 120, a beam delivery aiming point (BDAP)
error is possible between a presumed nominal BDAP and an actual
BDAP. In this embodiment, this BDAP error arising from error in the
aperture 110 location ranges from approximately .+-.1.1 mm to
.+-.1.5 mm.
[0046] The system 100 is also subject to error due to positioning
of the imager(s) 112 as well as the x-ray source(s) 130 as
illustrated in FIGS. 4d and 4e. FIG. 4D illustrates the error due
to uncertainty in the imager(s) 112 position with the position of
the corresponding x-ray source(s) 130 assumed nominal. As the
emissions from the x-ray source 130 pass through the patient
assumed located substantially at isocenter 120 and onward to the
imager 112, this distance may be different than the SAD distance
and in this embodiment is approximately equal to 2.2 meters. Error
or uncertainty in the true position of an imager 112 can arise from
lateral shifts in the true position of the imager 112, errors due
to axial shifting of the imager 112 with respect to the
corresponding x-ray source 130, as well as errors in registration
of images obtained by imager 112 to the DRRs. In this embodiment,
before correction, the errors due to each imager 112 are
approximately .+-.0.7 mm.
[0047] Similarly, FIG. 4e illustrates errors due to uncertainty in
positioning of the x-ray source(s) 130 with the position of the
corresponding imager(s) 112 assumed nominal. Possible sources of
error due to the x-ray source 130 include errors due to initial
alignment of the x-ray source 130, errors arising from movement of
the x-ray source 130 into and out of the beam line, and errors due
to interpretation of sags and relative distances of TIC 1 and TIC
3. These errors are also assumed random and uncorrelated or
independent and are thus added in quadrature resulting, in this
embodiment, in error due to each x-ray source 130 of approximately
.+-.0.7 mm.
[0048] As these errors are random and independent and uncorrelated
and thus potentially additive, in this embodiment the system 100
also comprises a plurality of external measurement devices 124 to
evaluate and facilitate compensating for these errors. In one
embodiment, the system 100 also comprises monuments, such as
markers 122, cooperating with the external measurement devices 124
as shown in FIGS. 2A, 2B, 6 and 7. The external measurement devices
124 each obtain measurement information about the three-dimensional
position in space of one or more components of the system 100 as
indicated by the monuments as well as one or more fixed landmarks
132 also referred to herein as the "world" 132.
[0049] In this embodiment, the external measurement devices 124
comprise commercially available cameras, such as CMOS digital
cameras with megapixel resolution and frame rates of 200-1000 Hz,
which independently obtain optical images of objects within a field
of view 126, which in this embodiment is approximately 85.degree.
horizontally and 70.degree. vertically. The external measurement
devices 124 comprising digital cameras are commercially available,
for example as components of the Vicon Tracker system from Vicon
Motion Systems Inc. of Lake Forrest, Calif. However, in other
embodiments, the external measurement devices 124 can comprise
laser measurement devices and/or radio location devices in addition
to or as an alternative to the optical cameras of this
embodiment.
[0050] In this embodiment, the markers 122 comprise spherical,
highly reflective landmarks which are fixed to various components
of the system 100. In this embodiment, at least three markers 122
are fixed to each component of the system 100 of interest and are
preferably placed asymmetrically, e.g. not equidistant from a
centerline nor evenly on corners, about the object. The external
measurement devices 124 are arranged such that at least two
external measurement devices 124 have a given component of the
system 100 and the corresponding markers 122 in their field of view
and in one embodiment a total of ten external measurement devices
124 are provided. This aspect provides the ability to provide
binocular vision to the system 100 to enable the system 100 to more
accurately determine the location and orientation of components of
the system 100. The markers 122 are provided to facilitate
recognition and precise determination of the position and
orientation of the objects to which the markers 122 are affixed,
however in other embodiments, the system 100 employs the external
measurement devices 124 to obtain position information based on
monuments comprising characteristic outer contours of objects, such
as edges or corners, comprising the system 100 without use of the
external markers 122.
[0051] FIG. 5 illustrates one embodiment of determining the spatial
position and angular orientation of a component of the system 100.
As the component(s) of interest can be the gantry 102, nozzle 104,
aperture 110, imager 112, world 132 or other components, reference
will be made to a generic "object". It will be appreciated that the
process described for the object can proceed in parallel or in a
series manner for multiple objects. Following a start state, in
state 150 the system 100 calibrates the multiple external
measurement devices 124 with respect to each other and the world
132. In the calibration state, the system 100 determines the
spatial position and angular orientation of each external
measurement device 124. The system 100 also determines the location
of the world 132 which can be defined by a dedicated L-frame and
can define a spatial origin or frame-of-reference of the system
100. The world 132 can, of course, comprise any component or
structure that is substantially fixed within the field of view of
the external measurement devices 124. Hence, structures that are
not likely to move or deflect as a result of the system 100 can
comprise the world 132 or point of reference for the external
measurement devices 124.
[0052] A wand, which can include one or more markers 122 is moved
within the fields of view 126 of the external measurement devices
124. As the external measurement devices 124 are arranged such that
multiple external measurement devices 124 (in this embodiment at
least two) have an object in the active area of the system 100 in
their field of view 126 at any given time, the system 100
correlates the independently provided location and orientation
information from each external measurement device 124 and
determines corrective factors such that the multiple external
measurement devices 124 provide independent location and
orientation information that is in agreement following calibration.
The particular mathematical steps to calibrate the external
measurement devices 124 are dependent on their number, relative
spacing, geometrical orientations to each other and the world 132,
as well as the coordinate system used and can vary among particular
applications, however will be understood by one of ordinary skill
in the art. It will also be appreciated that in certain
applications, the calibration state 150 would need to be repeated
if one or more of the external measurement devices 124 or world 132
is moved following calibration.
[0053] Following the calibration state 150, in state 152 multiple
external measurement devices 124 obtain an image of the object(s)
of interest. From the images obtained in state 152, the system 100
determines a corresponding direction vector 155 to the object from
each corresponding external measurement device 124 which images the
object in state 154. This is illustrated in FIG. 6 as vectors
155a-d corresponding to the external measurement devices 124a-d
which have the object in their respective fields of view 126. Then,
in state 156, the system 100 calculates the point in space where
the vectors 155 (FIG. 6) determined in state 154 intersect. State
156 thus returns a three-dimensional location in space, with
reference to the world 132, for the object corresponding to
multiple vectors intersecting at the location. As the object has
been provided with three or more movements or markers 122, the
system 100 can also determine the three-dimensional angular
orientation of the object by evaluating the relative locations of
the individual markers 122 associated with the object. In this
implementation, the external measurement devices 124 comprise
cameras, however, any of a number of different devices can be used
to image, e.g., determine the location, of the monuments without
departing from the spirit of the present invention. In particular,
devices that emit or receive electromagnetic or audio energy
including visible and non-visible wavelength energy and ultra-sound
can be used to image or determine the location of the
monuments.
[0054] The location and orientation information determined for the
object is provided in state 160 for use in the system 100 as
described in greater detail below. In one embodiment, the
calibration state 150 can be performed within approximately one
minute and allows the system 100 to determine the object's location
in states 152, 154, 156, and 160 to within 0.1 mm and orientation
to within 0.15.degree. with a latency of no more than 10 ms. As
previously mentioned, in other embodiments, the external
measurement devices 124 can comprise laser measurement devices,
radio-location devices or other devices that can determine
direction to or distance from the external measurement devices 124
in addition to or as an alternative to the external measurement
devices 124 described above. Thus, in certain embodiments a single
external measurement device 124 can determine both range and
direction to the object to determine the object location and
orientation. In other embodiments, the external measurement devices
124 provide only distance information to the object and the
object's location in space is determined by determining the
intersection of multiple virtual spheres centered on the
corresponding external measurement devices 124.
[0055] In certain embodiments, the system 100 also comprises one or
more local position feedback devices or resolvers 134 (See, e.g.,
FIG. 1). The local feedback devices or resolvers 134 are embodied
within or in communication with one or more components of the
system 100, such as the gantry 102, the nozzle 104, the radiation
source 106, the aperture 110, the imager(s) 112, patient positioner
114, patient pod 116, and/or world 132. The local feedback devices
134 provide independent position information relating to the
associated component of the system 100. In various embodiments, the
local feedback devices 134 comprise rotary encoders, linear
encoders, servos, or other position indicators that are
commercially available and whose operation is well understood by
one of ordinary skill in the art. The local feedback devices 134
provide independent position information that can be utilized by
the system 100 in addition to the information provided by the
external measurement devices 124 to more accurately position the
patient.
[0056] The system 100 also comprises, in this embodiment, a
precision patient alignment system 200 which employs the location
information provided in state 160 for the object(s). As illustrated
in FIG. 8, the patient alignment system 200 comprises a command and
control module 202 communicating with a 6D system 204, a patient
registration module 206, data files 210, a motion control module
212, a safety module 214, and a user interface 216. The patient
alignment system 200 employs location information provided by the
6D system 204 to more accurately register the patient and move the
nozzle 104 and the patient positioner 114 to achieve a desired
treatment pose as indicated by the prescription for the patient
provided by the data files 210.
[0057] In this embodiment, the 6D system 204 receives position data
from the external measurement devices 124 and from the resolvers
134 relating to the current location of the nozzle 104, the
aperture 110, the imager 112, the patient positioner 114, and
patient pod 116, as well as the location of one or more fixed
landmarks 132 indicated in FIG. 9 as the world 132. The fixed
landmarks, or world, 132 provide a non-moving origin or frame of
reference to facilitate determination of the position of the moving
components of the radiation therapy system 100. This location
information is provided to a primary 6D position measurement system
220 which then uses the observed data from the external measurement
devices 124 and resolvers 134 to calculate position and orientation
coordinates of these five components and origin in a first
reference frame. This position information is provided to a 6D
coordination module 222 which comprises a coordinate transform
module 224 and an arbitration module 226. The coordinate transform
module 224 communicates with other modules of the patient alignment
system 200, such as the command and control module 202 and the
motion control with path planning and collision avoidance module
212.
[0058] Depending on the stage of the patient registration and
therapy delivery process, other modules of the patient alignment
system 200 can submit calls to the 6D system 204 for a position
request of the current configuration of the radiation therapy
system 100. Other modules of the patient alignment system 200 can
also provide calls to the 6D system 204 such as a coordinate
transform request. Such a request typically will include submission
of location data in a given reference frame, an indication of the
reference frame in which the data is submitted and a desired frame
of reference which the calling module wishes to have the position
data transformed into. This coordinate transform request is
submitted to the coordinate transform module 224 which performs the
appropriate calculations upon the submitted data in the given
reference frame and transforms the data into the desired frame of
reference and returns this to the calling module of the patient
alignment system 200.
[0059] For example, the radiation therapy system 100 may determine
that movement of the patient positioner 114 is indicated to
correctly register the patient. For example, a translation of plus
2 mm along an x-axis, minus 1.5 mm along a y-axis, no change along
a z-axis, and a positive 1.degree. rotation about a vertical axis
is indicated. This data would be submitted to the coordinate
transform module 224 which would then operate upon the data to
return corresponding movement commands to the patient positioner
114. The exact coordinate transformations will vary in specific
implementations of the system 100 depending, for example, on the
exact configuration and dimensions of the patient positioner 114
and the relative position of the patient positioner 114 with
respect to other components of the system 100. However, such
coordinate transforms can be readily determined by one of ordinary
skill in the art for a particular application.
[0060] The arbitration module 226 assists in operation of the
motion control module 212 by providing specific object position
information upon receipt of a position request. A secondary
position measurement system 230 provides an alternative or backup
position measurement function for the various components of the
radiation therapy system 100. In one embodiment, the secondary
position measurement system 230 comprises a conventional
positioning functionality employing predicted position information
based on an initial position and commanded moves. In one
embodiment, the primary position measurement system 220 receives
information from the external measurement devices 124 and the
secondary position measurement system 230 receives independent
position information from the resolvers 134. It will generally be
preferred that the 6D measurement system 220 operate as the primary
positioning system for the previously described advantages of
positioning accuracy and speed.
[0061] FIG. 10 illustrates in greater detail the patient
registration module 206 of the patient alignment system 200. As
previously described, the 6D system 204 obtains location
measurements of various components of the radiation therapy system
100, including the table or patient pod 116 and the nozzle 104 and
determines position coordinates of these various components and
presents them in a desired frame of reference. The data files 210
provide information relating to the patient's treatment
prescription, including the treatment plan and CT data previously
obtained at a planning or prescription session. This patient's data
can be configured by a data converter 232 to present the data in a
preferred format. The imager 112 also provides location information
to the 6D system 204 as well as to an image capture module 236. The
image capture module 236 receives raw image data from the imager
112 and processes this data, such as with filtering, exposure
correction, scaling, and cropping to provide corrected image data
to a registration algorithm 241.
[0062] In this embodiment, the CT data undergoes an intermediate
processing step via a transgraph creation module 234 to transform
the CT data into transgraphs which are provided to the registration
algorithm 241. The transgraphs are an intermediate data
representation and increase the speed of generation of DRRs. The
registration algorithm 241 uses the transgraphs, the treatment
plan, the current object position data provided by the 6D system
204 and the corrected image data from the imager(s) 112 to
determine a registered pose which information is provided to the
command and control module 202. The registration algorithm 241
attempts to match either as closely as possible or to within a
designated tolerance the corrected image data from the imager 112
with an appropriate DRR to establish a desired pose or to register
the patient. The command and control module 202 can evaluate the
current registered pose and provide commands or requests to induce
movement of one or more of the components of the radiation therapy
system 100 to achieve this desired pose. Additional details for a
suitable registration algorithm may be found in the published
doctoral dissertation of David A. LaRose of May 2001 submitted to
Carnegie Mellon University entitled "Iterative X-ray/CT
Registration Using Accelerated Volume Rendering" which is
incorporated herein in its entirety by reference.
[0063] FIGS. 11-13 illustrate embodiments with which the system 100
performs this movement. FIG. 11 illustrates that the command and
control module 202 has provided a call for movement of one or more
of the components of the radiation therapy system 100. In state
238, the motion control module 212 retrieves a current position
configuration from the 6D system 204 and provides this with the
newly requested position configuration to a path planning module
240. The path planning module 240 comprises a library of
three-dimensional model data which represent position envelopes
defined by possible movement of the various components of the
radiation therapy system 100. For example, as previously described,
the imager 112 is retractable and a 3D model data module 242
indicates the envelope or volume in space through which the imager
112 can move depending on its present and end locations.
[0064] The path planning module 240 also comprises an object
movement simulator 244 which receives data from the 3D model data
module 242 and can calculate movement simulations for the various
components of the radiation therapy system 100 based upon this
data. This object movement simulation module 244 preferably works
in concert with a collision avoidance module 270 as illustrated in
FIG. 12. FIG. 12 again illustrates one embodiment of the operation
of the 6D system 204 which in this embodiment obtains location
measurements of the aperture 110, imager 112, nozzle 104, patient
positioner and patient pod 114 and 116 as well as the fixed
landmarks or world 132. FIG. 12 also illustrates that, in this
embodiment, local feedback is gathered from resolvers 134
corresponding to the patient positioner 114, the nozzle 104, the
imager 112, and the angle of the gantry 102.
[0065] This position information is provided to the collision
avoidance module 270 which gathers the object information in an
object position data library 272. This object data is provided to a
decision module 274 which evaluates whether the data is verifiable.
In certain embodiments, the evaluation of the module 274 can
investigate possible inconsistencies or conflicts with the object
position data from the library 272 such as out-of-range data or
data which indicates, for example, that multiple objects are
occupying the same location. If a conflict or out-of-range
condition is determined, e.g., the result of the termination module
274 is negative, a system halt is indicated in state 284 to inhibit
further movement of components of the radiation therapy system 100
and further proceeds to a fault recovery state 286 where
appropriate measures are taken to recover or correct the fault or
faults. Upon completion of the fault recovery state 286, a reset
state 290 is performed followed by a return to the data retrieval
of the object position data library in module 272.
[0066] If the evaluation of state 274 is affirmative, a state 276
follows where the collision avoidance module 270 calculates
relative distances along current and projected trajectories and
provides this calculated information to an evaluation state 280
which determines whether one or more of the objects or components
of the radiation therapy system 100 are too close. If the
evaluation of stage 280 is negative, e.g., that the current
locations and projected trajectories do not present a collision
hazard, a sleep or pause state 282 follows during which movement of
the one or more components of the radiation therapy system 100 is
allowed to continue as indicated and proceeds to a recursive
sequence through modules 272, 274, 276, 280, and 282 as
indicated.
[0067] However, if the results of the evaluation state 280 are
affirmative, e.g., that either one or more of the objects are too
close or that their projected trajectories would bring them into
collision, the system halt of state 284 is implemented with the
fault recovery and reset states 286 and 290, following as
previously described. Thus, the collision avoidance module 270
allows the radiation therapy system 100 to proactively evaluate
both current and projected locations and movement trajectories of
movable components of the system 100 to mitigate possible
collisions before they occur or are even initiated. This is
advantageous over systems employing motion stops triggered, for
example, by contact switches which halt motion upon activation of
stop or contact switches, which by themselves may be inadequate to
prevent damage to the moving components which can be relatively
large and massive having significant inertia, or to prevent injury
to a user or patient of the system.
[0068] Assuming that the object movement simulation module 244 as
cooperating with the collision avoidance module 270 indicates that
the indicated movements will not pose a collision risk, the actual
movement commands are forwarded to a motion sequence coordinator
module 246 which evaluates the indicated movement vectors of the
one or more components of the radiation therapy system 100 and
sequences these movements via, in this embodiment, five translation
modules. In particular, the translation modules 250, 252, 254, 260,
and 262 translate indicated movement vectors from a provided
reference frame to a command reference frame appropriate to the
patient positioner 114, the gantry 102, the x-ray source 130, the
imager 112, and the nozzle 104, respectively.
[0069] As previously mentioned, the various moveable components of
the radiation therapy system 100 can assume different dimensions
and be subject to different control parameters and the translation
modules 250, 252, 254, 260, and 262 interrelate or translate a
motion vector in a first frame of reference into the appropriate
reference frame for the corresponding component of the radiation
therapy system 100. For example, in this embodiment the gantry 102
is capable of clockwise and counterclockwise rotation about an axis
whereas the patient positioner 114 is positionable in six degrees
of translational and rotational movement freedom and thus operates
under a different frame of reference for movement commands as
compared to the gantry 102. By having the availability of
externally measured location information for the various components
of the radiation therapy system 100, the motion sequence
coordinator module 246 can efficiently plan the movement of these
components in a straightforward, efficient and safe manner.
[0070] FIG. 14 illustrates a workflow or method 300 of one
embodiment of operation of the radiation therapy system 100 as
provided with the patient alignment system 200. From a start state
302, follows an identification state 304 wherein the particular
patient and treatment portal to be provided is identified. This is
followed by a treatment prescription retrieval state 306 and the
identification and treatment prescription retrieval of states 304
and 306 can be performed via the user interface 216 and accessing
the data files of module 210. The patient is then moved to an
imaging position in state 310 by entering into the patient pod 116
and actuation of the patient positioner 114 to position the patient
pod 116 securing the patient in the approximate position for
imaging. The gantry 102, imager(s) 112, and radiation source(s) 130
are also moved to an imaging position in state 312 and in state 314
the x-ray imaging axis parameters are determined as previously
described via the 6D system 204 employing the external measurement
devices 124, cooperating markers 122, and resolvers 134.
[0071] In state 316, a radiographic image of the patient is
captured by the imager 112 and corrections can be applied as needed
as previously described by the module 236. In this embodiment, two
imagers 112 and corresponding x-ray sources 130 are arranged
substantially perpendicularly to each other. Thus, two independent
radiographic images are obtained from orthogonal perspectives. This
aspect provides more complete radiographic image information than
from a single perspective. It will also be appreciated that in
certain embodiments, multiple imaging of states 316 can be
performed for additional data. An evaluation is performed in state
320 to determine whether the radiographic image acquisition process
is complete and the determination of this decision results either
in the negative case with continuation of the movement of state
312, the determination of state 314 and the capture of state 316 as
indicated or, when affirmative, followed by state 322.
[0072] In state 322, external measurements are performed by the 6D
system 204 as previously described to determine the relative
positions and orientations of the various components of the
radiation therapy system 100 via the patient registration module
206 as previously described. In state 324, motion computations are
made as indicated to properly align the patient in the desired
pose.
[0073] While not necessarily required in each instance of treatment
delivery, this embodiment illustrates that in state 326 some degree
of gantry 102 movement is indicated to position the gantry 102 in a
treatment position as well as movement of the patient, such as via
the patient positioner 114 in state 330 to position the patient in
the indicated pose. Following these movements, state 332 again
employs the 6D system 204 to externally measure and in state 334 to
compute and analyze the measured position to determine in state 336
whether the desired patient pose has been achieved within the
desired tolerance. If adequately accurate registration and
positioning of the patient has not yet been achieved, state 340
follows where a correction vector is computed and transformed into
the appropriate frame of reference for further movement of the
gantry 102 and/or patient positioner 114. If the decision of state
336 is affirmative, e.g., that the patient has been satisfactorily
positioned in the desired pose, the radiation therapy fraction is
enabled in state 342 in accordance with the patient's prescription.
For certain patient prescriptions, it will be understood that the
treatment session may indicate multiple treatment fractions, such
as treatment from a plurality of orientations and that appropriate
portions of the method 300 may be iteratively repeated for multiple
prescribed treatment fractions. However, for simplicity of
illustration, a single iteration is illustrated in FIG. 14. Thus,
following the treatment delivery of state 342, a finished state 344
follows which may comprise the completion of treatment for that
patient for the day or for a given series of treatments.
[0074] Thus, the radiation therapy system 100 with the patient
alignment system 200, by directly measuring movable components of
the system 100, employs a measured feedback to more accurately
determine and control the positioning of these various components.
A particular advantage of the system 100 is that the patient can be
more accurately registered at a treatment delivery session than is
possible with known systems and without an iterative sequence of
radiographic imaging, repositioning of the patient, and subsequent
radiographic imaging and data analysis. This offers the significant
advantage both of more accurately delivering the therapeutic
radiation, significantly decreasing the latency of the
registration, imaging and positioning processes and thus increasing
the possible patient throughput as well as reducing the exposure of
the patient to x-ray radiation during radiographic imaging by
reducing the need for multiple x-ray exposures during a treatment
session.
[0075] Although the preferred embodiments of the present invention
have shown, described and pointed out the fundamental novel
features of the invention as applied to those embodiments, it will
be understood that various omissions, substitutions and changes in
the form of the detail of the device illustrated may be made by
those skilled in the art without departing from the spirit of the
present invention. Consequently, the scope of the invention should
not be limited to the foregoing description but is to be defined by
the appended claims.
* * * * *